Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed freescal_cup_k22f
Diff: source/main.cpp
- Revision:
- 22:b5a3688e144b
- Parent:
- 21:9430357e777c
- Child:
- 23:fa834aa184e0
--- a/source/main.cpp Sat Jan 17 17:45:52 2015 +0000 +++ b/source/main.cpp Sat Jan 17 18:06:33 2015 +0000 @@ -22,8 +22,8 @@ int indexMax=127; int compteur_uart=0; int max_detect1=indexMin; - int max_detect2=indexMin; - int max_detect=(max_detect1+max_detect2)/2; + int min_detect2=indexMin; + int max_detect=(max_detect1+min_detect2)/2; float Kp_servo = 0; uart.baud(115200); init_led(); @@ -35,8 +35,8 @@ while(1){ readline(); - passebas(12); - //derivation(); + passebas(10); + derivation(); //passebas(4); @@ -61,18 +61,24 @@ compteur_uart =compteur_uart+1; } + max_detect1=indexMin; + min_detect2=indexMin; + for (int j=indexMin; j<=indexMax; j++) { - if (pixel1[j]>pixel1[max_detect]) + if (pixel1[j]>pixel1[max_detect1]) { max_detect1=j; } - if (pixel1[j]>pixel2[max_detect]) + } + for (int j=indexMin; j<=indexMax; j++) + { + if (pixel1[j]<pixel2[min_detect2]) { - max_detect2=j; + min_detect2=j; } } - max_detect=(max_detect1+max_detect2)/2; + max_detect=(max_detect1+min_detect2)/2; // Réduction proportionelle de la vitesse moteur si l'angle du servo augmente if (max_detect>64) {